Warning

You are using an outdated version of psen_scan. Please update your scanner firmware and use the new psen_scan_v2 package. See https://github.com/PilzDE/psen_scan_v2/#migration for detailed instruction.

PILZ safety laser scanner PSENscan

Package: psen_scan

The psen_scan package is a ROS integration of the PSENscan safety laser scanner product. It allows for an easy integration of the laser scanner data into your ROS Environment. Using the standard sensor_msgs/LaserScan message format ensures compatibility with other laserscan-post-processing nodes such as gmapping. For a general overview and link collection we refer to the wiki page.

Table of Contents

1. Installation
2. Build Status
3. Setup
4. ROS API
5. Usage

Installation

To use the package, you can install prebuilt packages with

sudo apt install ros-melodic-psen-scan

Build Status

| Platform | Status | | ——– | —— | | Travis | | | Buildfarm src | | | Buildfarm bin | |

Branching model

melodic-devel is considered to be the active development branch.

Setup

Needed Equipment:

• PSENscan safety laser scanner
• ROS Machine

ROS API

Published Topics

/laser_scanner/scan (sensor_msgs/LaserScan)
Publishes a complete scan from the PSENscan safety laser scanner.

Parameters

password (string, default: “ac0d68d033”)
Password for safety laser scanner.

host_ip (string, default: “192.168.0.50”)
IP-Address of host machine.

host_udp_port (int, default: 55115)
UDP Port on which packets from safety laser scanner should be received.

sensor_ip (string, default: “192.168.0.10”)
IP-Address of safety laser scanner.

frame_id (string, default: “scanner”)
Identifier used for transformations within ROS environment.

skip (int, default: 0)
How many incoming frames should be skipped (reduces publish rate).

angle_start (float, default: 0)
Start angle of measurement.

angle_end (float, default: 275)
End angle of measurement.

x_axis_rotation (float, default: 137.5)
Clockwise rotation of the x-axis around the center in degrees.

Usage

To start reading from the safety laser scanner and publishing complete scans execute roslaunch psen_scan psen_scan.launch in a command line. This will launch the ROS Node with the default configuration.

If you wish to set parameters from the command line, add them to the end of the command as follows: parameter:=value, separated by spaces.

roslaunch psen_scan psen_scan.launch sensor_ip:=192.168.0.10 host_ip:=192.168.0.20 host_udp_port:=3050

This example configures the safety laser scanner at 192.168.0.10 to send it´s frames to 192.168.0.20:3050.

Adjust expert parameters

If you’ve created an application package with your own launch file as described in the tutorials, you can easily adjust the aforementioned configuration parameters.

Test concept

You need further information?

Our international hotline staff will support you individually about our ROS packages at ros@pilz.de

Find more information about the PILZ safety laser scanner on the product website.

Visit us at pilz.com

PILZ is an international-scale, innovative automation technology company. PILZ uses its solutions to create safety for man, machine and the environment. In addition to head office in Ostfildern near Stuttgart, the family business is represented over 2,400 employees at 42 subsidiaries and branches on all continents.

The company’s products include sensor technology, electronic monitoring relays, safety relays, configurable and programmable control systems, automation solutions with motion control, systems for industrial communication as well as visualization solutions and operator terminals.

PILZ solutions can be used in all areas of mechanical engineering, including the packaging and automotive sector, plus the railway technology, press and wind energy sectors. These solutions ensure that baggage handling systems run safely at airports and funiculars or roller coasters travel safely; they also guarantee fire protection and energy supply in buildings.

Changelog for package psen_scan

1.0.8 (2020-10-22)

• Add deprecation warning: End-of-life reached (#101)
• Add new AcceptanceTest for publish_test. (#100)
• Create test_concept (#41)
• Contributors: Pilz GmbH & Co KG

1.0.7 (2020-07-31)

• Introducing an acceptance test to avoid high cpu usage
• Refactor read timeout in psen_scan_upd_interface.h (#45)
• Improve/integrationtest psen scan upd interface (#42)
• Contributors: Pilz GmbH & Co KG

1.0.6 (2020-07-08)

• Remove travis jobs for kinetic
• Adds sleep to udp package availabillity check.
• Install config folder
• Update travis recipients
• Contributors: Pilz GmbH & Co KG

1.0.5 (2020-07-03)

• Add coverage check to travis ci and switches to cmake version 2.8.12
• Rename all test-files and move into subfolders
• Update README
• Remove ros parameters 'publish_topic' and 'node_name'.
• Add integrationtest to test correct publishing of scan topic.
• Change Rviz config to some common values
• Add new acceptance test for psen_scan.
• Add travis job for clang-format
• Contributors: Pilz GmbH & Co KG

1.0.4 (2020-03-05)

• Fix/ros parameter handling (#15)
• Add Travis and ROS Buildfarm Badges to README. (#16)
• Minor typefix (#14)
• Fix unstable udp interface test. (#13)
• Feature/code analysis tools (#12)

1.0.3 (2020-01-17)

• Add x-axis-rotation feature. Introduced new parameter "x_axis_rotation" which describes clockwise rotation of the x-axis around the center in degrees. The default value is 275°/2 = 137.5°. Then the x-axis points in the direction of the middle of the scan.
• Additional change: Fill time related message fields in sensor_msgs/LaserScan message.

1.0.2 (2019-12-17)

• Change spinner to AsyncSpinner. (#6)
• Add missing install of launch files (#5)

1.0.1 (2019-11-25)

• Initial Commit.